Well in the docs they mention three methods of connection. Looks like method #1 - Clientless may be the answer.. But I'm wondering if anyone has done this sucessfully..

SSL VPN delivers the following three modes of SSL VPN access:

•Clientless—Clientless mode provides secure access to private web resources and will provide access to web content. This mode is useful for accessing most content that you would expect to access in a web browser, such as Internet access, databases, and online tools that employ a web interface.

SSL VPN application accessibility is somewhat constrained relative to IPsec VPNs; however, SSL-based VPNs provide access to a growing set of common software applications, including web page access, web-enabled services such as file access, e-mail, and TCP-based applications (by way of a downloadable thin-client applet). SSL-based VPN requires slight changes to user workflow because some applications are presented through a web browser interface, not through their native GUI. The advantage for SSL VPN comes from accessibility from almost any Internet-connected system without needing to install additional desktop software.